EP3445689A1 - Procédé et dispositif pour manipuler au moins une ligne de marchandises déplacées les unes derrière les autres - Google Patents

Procédé et dispositif pour manipuler au moins une ligne de marchandises déplacées les unes derrière les autres

Info

Publication number
EP3445689A1
EP3445689A1 EP17709000.8A EP17709000A EP3445689A1 EP 3445689 A1 EP3445689 A1 EP 3445689A1 EP 17709000 A EP17709000 A EP 17709000A EP 3445689 A1 EP3445689 A1 EP 3445689A1
Authority
EP
European Patent Office
Prior art keywords
manipulator
piece goods
target position
rotation
clamping
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP17709000.8A
Other languages
German (de)
English (en)
Other versions
EP3445689B1 (fr
EP3445689B2 (fr
Inventor
Michael Astner
Erhard Beer
Manuel Kollmuss
Arsalan MEHDI
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Krones AG
Original Assignee
Krones AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=58231580&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP3445689(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Krones AG filed Critical Krones AG
Priority to SI201731104T priority Critical patent/SI3445689T2/sl
Publication of EP3445689A1 publication Critical patent/EP3445689A1/fr
Publication of EP3445689B1 publication Critical patent/EP3445689B1/fr
Application granted granted Critical
Publication of EP3445689B2 publication Critical patent/EP3445689B2/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/02—Devices for feeding articles or materials to conveyors
    • B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
    • B65G47/06—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines
    • B65G47/08—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines spacing or grouping the articles during feeding
    • B65G47/084—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines spacing or grouping the articles during feeding grouping articles in a predetermined 2-dimensional pattern
    • B65G47/086—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines spacing or grouping the articles during feeding grouping articles in a predetermined 2-dimensional pattern cubiform articles

Definitions

  • the present invention relates to a method for handling in at least one row successively moving piece goods with the features of independent method claim 1.
  • the invention relates to a device for handling in at least one row successively moving piece goods with the features of the independent device claim 16th
  • Each individual piece goods are transferred to the conveyor belt. This transfer can be done by each individual piece goods through a
  • Speed difference between the conveyor belt and conveyor belt is transferred individually to the conveyor belt, wherein control by optical sensors such as light barriers may be present. It is also conceivable that the piece goods separated from the conveyor belt by stepwise driving the ply forming tape to to hand over. In order to transfer in such a way in each case individual piece goods from the conveyor belt to the ply forming belt, the ply forming belt in synchronized steps with the conveyor belt exactly by a length of a piece goods in
  • Transport direction are moved.
  • these cycles or groupings or parts of the grouped piece goods can also be rotated on the conveyor belt, in order then to be transferred to the layer forming belt.
  • Piece goods are brought together by bringing them into a two-dimensional formation (block formation, eg pallet layer).
  • block formation eg pallet layer
  • a two-dimensional formation for this purpose, for example, a pallet layer
  • Roller conveyor from an alley or from several lanes be supplied linearly.
  • the piece goods can be rotated as required before or on the roller conveyor and placed on the roller conveyor mechanically by stopping in the required position.
  • the piece goods thus positioned can then be pushed off the roller conveyor orthogonally to the transport direction.
  • the inflow, the arrangement and the removal of the piece goods can be considered as one cycle. At least one cycle is needed to make a layer, but normally it takes several cycles.
  • the partially discontinuous production with its relatively abrupt changes in speed or direction causes correspondingly high mechanical loads on the piece goods, which is gentle on the product
  • Processing of general cargo may be detrimental.
  • the document EP 1 465 101 A2 discloses a device for the series formation of packaged goods for packaged palletisers.
  • the container palletizer comprises at least one ply station and at least one palletizing station.
  • the row forming device comprises at least one positioning station, on which the packaged goods during the
  • Transports are arranged in at least one row at desired intervals.
  • the positioning station is connected to a supply conveyor associated with the paging station. Upstream of the positioning at least one accumulation conveyor is arranged, wherein the positioning station has a plurality of conveying sections arranged in succession in the transport direction with controllable and controllable drives. With the controllable and controllable drives, it is possible to achieve a desired distance formation of the packaged goods.
  • the row forming device has at least one
  • This known row forming device is relatively complicated and complicated, especially as it requires a plurality of bands that are suitable for a
  • EP 1 927 559 A1 discloses a grouping table for merging
  • Containers in particular shrink packs, for stratification, comprising a conveyor continuously drivable, a conveyor stepwise drivable stepping conveyor, a laterally arranged next to the stepping layer forming station and the step conveyor associated perpendicular to the conveying direction deporting means for groupwise transferring the container on the layer forming station.
  • US 2005/0246056 A1 discloses a system for arranging packages in one layer, which are deposited or stacked on a pallet in the further course of handling. There are three conveyor belts arranged linearly. The packages of the device are made available via a first conveyor belt. The
  • Packages are arranged linearly on the first conveyor belt.
  • the packages are separated with a second conveyor belt. Subsequently, the packages arrive at a third conveyor belt, in which the arrangement of the packages is carried out. All three conveyor belts run with different, but always constant
  • a method and a device are proposed in EP 2 107 018 A1, with which a safe, fast and high-quality provision of cycles from containers and / or container groups should be possible in order thus the rows for the layers create a palette in an effective way.
  • the proposed device is used to assemble and align container groups, wherein the device comprises a delivery belt, a conveyor belt and a series or ply forming belt.
  • the feeder belt, the conveyor belt and the series or layer forming belt is provided for driving each with its own motor.
  • the speed of the metering belt is regulated so that the transported on the metering belt shock to shock container or
  • the series or layer forming belt may be associated with a robot which can move and / or rotate the incoming from the conveyor belt clocks for sheet formation in the transport direction or transversely to the transport direction.
  • the layer-forming band should enable the generation of a layer formed of several rows.
  • the layer forming station is a program-controlled manipulator for picking up and / or transferring individual or several piece goods to at least two spatially separated and / or spatially offset
  • Such manipulators or robots assigned to the layer-forming belts can be designed, for example, as multi-axis robots, as described, for example, in DE 10 2009 026 220 A1 in connection with the grouping of articles or beverage containers.
  • Manipulators are so-called gantry robots, often in modular design in
  • Packing lines, in grouping units or in palletising stations As a transport or conveying element is often used a horizontally extending in the longitudinal direction of the conveying plane conveyor belt or other endless circulating medium on which the objects and / or the packaging are arranged in predetermined positions or in randomly assumed positions.
  • a module is known, for example, from DE 10 2009 043 970 A1.
  • the gantry robots typically used in such modules can, for example, be equipped with gripping devices for the lateral detection of the piece goods to be handled and manipulated, as are known from DE 10 2010 020 847 A1, for example.
  • the main aim of all known handling systems is to enable a precise positioning of piece goods, packages, containers and / or articles for the most trouble-free and reliable layer formation, palletizing and / or packaging preparation.
  • a secondary objective which is becoming increasingly important, is to reduce cycle times without having to reduce the degree of precision already achieved or having to accept losses in terms of the already achieved reliability.
  • the process is intended to allow the processing of general cargo transported or transported in at least one row.
  • the process should be able to proceed at a higher speed than hitherto was possible, without incurring disadvantages with regard to the positioning precision and / or the reliability of the manipulation of the piece goods.
  • the corresponding device should be operated faster than those known from the prior art
  • the invention relates to a method and a device for dealing with successively moving piece goods, which are selectively moved in at least one row behind the other and / or with defined or variable distances between the Piece goods or between groups of goods can be moved one behind the other.
  • a cyclic transport is possible, which will be explained in more detail below. If, in the context of the present description, only one method, one variant of the method, the method according to the invention or the like is mentioned, this generally refers to the mentioned method for handling piece goods moving one behind the other, optionally with piece goods moving in at least one row.
  • a handling of piece goods includes handling, detection, positioning, movement in space, rotation, alignment, etc ., In particular in connection with a manipulator and / or moving parts of the manipulator, which are arranged in a detection space and can move there within definable limits.
  • the notion of dealing equally includes positioning, conveying and / or all types of handling steps associated with
  • Conveyors, horizontal conveyors, conveyor belts, etc. may take place, which are part of the device according to the invention and / or with this in
  • Active compound and / or in a transport connection be it in the transport and / or conveying direction downstream, upstream or integrated parts of the
  • the piece goods may be items moved one behind the other or moving in a row or in several rows one after the other, packages,
  • Container compositions, containers, cartons or similar act.
  • a plurality of identical or different articles are combined by a cardboard outer packaging, by a strapping or several strapping, by a film package or the like to form a container or a mixed container.
  • the piece goods moving in series one behind the other can, depending on requirements, be followed by subsequent ones
  • Handling devices may be the same or different.
  • the successively moved and, for example, in a row without distances or with minimum distances moved and / or transported to a - particular manipulation area or detection area -, at least two immediately consecutive cargo can be transported in particular as a closed formation.
  • the term "closed formation" may primarily mean a largely continuous succession of piece goods which are transported one behind the other.
  • the closed formation in the sense of the present invention may have a finite length and a limited number of piece goods, after which a gap and such a gap may possibly follow another such formation, which is subsequently transported. Such a sequence may be repeated, possibly even multiple, multiple or indefinite.
  • the closed formation can also be transported as an endless formation, which has no interruption and comprises any number of piece goods. From this closed formation at least one transported piece goods is clamped and / or positively and / or positively detected, spatially separated from the closed formation and brought into a defined relative target position and / or targeting towards subsequent cargo of the formation.
  • the piece goods can also be conveyed in clocked feed to the manipulator or to its detection space, which means both conveyance into rows with respectively defined distances of the piece goods from each other and / or rows of finite length with larger gaps between such successive rows can.
  • a closed formation in such a sense can also be understood as a longer sequence of several such rows, which thus does not mean a complete succession of piece goods, but in their entirety due to the regular transport with regularly repeating patterns of piece goods transported one behind the other and their respective gaps can also be regarded as a closed formation in the broadest sense.
  • such a described transport sequence of piece goods of a clocked infeed or the concept of a clocked infeed comes closer than a strictly continuous succession of piece goods.
  • Such a clocked can repeat, possibly even multiple, multiple or indefinite number.
  • this clocked formation can also be transported as an endless formation, which has no interruption and comprises any number of piece goods. From this quasi-closed formation or from this clocked inlet at least one transported within the detection range by means of the manipulator Piece goods clamped and / or positively and / or positively detected, spatially separated from the formation and placed in a defined relative target position and / or targeting towards subsequent cargo of the formation.
  • At least one transported piece goods are clamped and / or gripped there by at least two oppositely arranged clamping and / or gripping means assigned to the at least one manipulator positively and / or positively detected, spatially separated from subsequent piece goods and in a defined relative target position and / or orientation relative to each
  • a first vertical plane of symmetry oriented approximately perpendicular to a transporting direction of the piece goods is separated from the one by the at least one piece of cargo grasped by the at least two clamping and / or gripping means of the at least one manipulator this approximately parallel
  • the method detects in at least one step of several temporally successive steps each at least one transported piece goods and by a rotation about a vertical axis with a rotation angle of at least 90 °, depending on the manipulation phase, but optionally also from about 180 ° each spatially separated from a rectilinear trajectory in the original transport direction and opposite to a respective defined relative target position and / or orientation
  • Detection of piece goods is mentioned, this also includes a non-positive and / or frictional detection, a non-positive and / or frictional gripping or picking up piece goods. All these variants of picking up, grasping and / or gripping piece goods can be combined equally with a form-locking gripping, gripping or picking up the piece goods.
  • Goal is talking, this may in particular mean that the cargo can be detected, moved and / or rotated, with the cargo either also only shifted (without rotation) or only rotated (without displacement movement) can be.
  • the method according to the invention it is provided that, in a plurality of temporally successive steps, at least one transported piece of goods from the closed formation is detected, from the closed formation by rectilinear acceleration in or approximately in a longitudinal direction of the closed formation and / or by a rotation from a rectilinear trajectory
  • the closed formation is spatially separated in each case and is brought by means of at least one manipulator into a respective defined relative target position and / or orientation with respect to subsequent piece goods.
  • Piece goods may be in the formation and the direction component may not be directed against the transport direction of the cargo in the formation. Otherwise there would be a risk of collision between the registered general cargo and the
  • the manipulator of the device may be formed, for example, as a gripper head on a rotary joint and change by rotation about a defined angle of for example 90 °, the orientation of the detected between the jaws cargo.
  • the at least one transported piece goods are brought into the defined relative target position and / or target orientation with respect to the subsequent piece goods with simultaneous rotational movement through an angle of at least approximately 90 ° or at least approximately 180 °.
  • the method may further provide that the rotational movement takes place about a preferably approximately vertical axis which is located between the respective at least one piece of goods that is clamped and / or positively and / or positively locked and the respective defined target position.
  • the piece goods can also be moved in at least one row with approximately equal or variable gaps from each other in clocked or cyclically clocked inlet in the detection range of the manipulator and there detected by the at least two clamping and / or gripping means of the manipulator and spatial Separation of the respective subsequent piece goods are brought into the respective defined relative target positions.
  • the method can provide for the piece goods to be picked up by the manipulator immediately before or at the initiation of its rotation about the vertical axis by distancing in the transport direction and by at least short-term
  • Movement path of the transported piece goods or the closed formation of subsequent cargo is separated spatially and brought in the direction of a respective defined relative target position and / or orientation against the subsequent cargo.
  • the detected general cargo or articles here are typically superimposed with respect to a transport speed of the closed formation further speed and / or directional and / or
  • Motion sequences of the manipulator and / or its clamping and / or gripping means can be optimized with respect to the available space within the detection area and in particular with regard to the avoidance of all interfering collisions with cargo.
  • Each saved reverse rotation of the manipulator or its clamping and / or gripping means allows a closer passing on piece goods, without thereby a risk of collision, since in particular in manipulators with larger capacity for receiving, for example, three or four consecutively arranged cargo a relatively large amount of space for any Rotational movements of the relatively protruding clamping and / or gripping means see what in reverse rotations of the
  • At least one piece of goods transported from the closed formation can be detected from the closed formation in a clamping and / or force and / or form-fitting manner and at an angle of at least approximately 90 ° or at least
  • Rotary movement in the course of the rotational movement at least time and / or sections in the direction of the respective defined target position is moved.
  • the axis may be at least temporarily moved in the direction of the respective defined target position at a speed which is greater than one in the course of the rotational movement
  • a further embodiment of the method according to the invention provides that the axis is at least temporarily moved in the direction of the respective defined target position at a speed which is greater than the transport speed of the closed formation, wherein temporally thereafter the axis in the course of the rotational movement at least at times in a certain
  • the method can provide that, at least in succession, at least one transported piece of goods from the closed formation is clamped and / or positively clamped, spatially separated from the closed formation and brought into a respective defined relative target position and / or orientation with respect to subsequent piece goods. resulting in a plurality of cargo a Vorgrupp réelle or a grouping for a palettierShe position or partial position is formed.
  • the rotational movements of the at least one manipulator can, in at least two successive steps, for the respective transfer of piece goods from the closed formation into the respectively provided target positions and / or
  • Target alignments are carried out in the same direction of rotation, in particular or optionally with further rotation of the manipulator over a rotation angle of 180 ° addition.
  • the method can provide, as a further supplementary option, that the at least one piece or the plurality of piece goods is detected by means of a manipulator designed as a delta kinematics robot and moved into the respective target position and / or
  • the present invention comprises a device for handling piece goods moving one behind the other, optionally also for handling at least one row of piece goods moved one behind the other.
  • This device comprises at least one manipulator with clamping and / or gripping means for handling piece goods and at least one
  • Transport device via which successive and / or immediate
  • Formation in a detection range of the at least one manipulator are transportable.
  • the at least one manipulator is for clamping and / or positive and / or positive detection or acceptance as well as for separating and transferring formed in a target position and / or orientation of at least one piece good from the transported by means of at least one transport device in its detection area closed formation or from the transported into its detection area cargo.
  • a, by the at least one, from the at least two clamping and / or gripping means of the at least one manipulator defined cargo defined first vertical and oriented approximately perpendicular to a transport direction of the cargo symmetry plane is spaced from a thereto in approximately parallel aligned second vertical plane of symmetry, which is defined by the manipulator or by its clamping and / or gripping means.
  • the definition of the spaced-apart vertical planes of symmetry means in particular an asynchronous loading of the manipulator or an asymmetrical detection of piece goods between the clamping and / or gripping means of the manipulator, which also means a detection of less than the maximum detectable number of piece goods, which are also eccentrically or unilaterally displaced displaced in the manipulator.
  • the at least one manipulator the at least one
  • the at least one manipulator for the rotational movement provides a preferably approximately vertical axis and is formed with respect to the axis offset clamping and / or positive and / or positive reception of at least one piece goods.
  • the device may, as an alternative or in addition to the described features, one or more features and / or properties of the previously described
  • the method may alternatively or additionally comprise one or more features and / or properties of the device described.
  • a variant of the device according to the invention provides that the at least one manipulator for the rotational movement provides an axis and is formed to offset relative to the axis clamping and / or positive reception of at least one piece goods.
  • the at least one manipulator at least temporarily superimposed with the rotational movement together with the axis and the respective clamping and / or positive fit received at least one cargo in the direction of the respective target position is designed to be movable.
  • the at least one manipulator at least temporarily superimposed with the rotational movement together with the axis and the respective clamping and / or positively received at least one cargo in the direction of the respective target position at a speed to be movable, this
  • Speed is greater than a transport speed of the closed
  • the at least one manipulator may be designed for clamping and / or positive and / or positive reception as well as for separating and transferring into a target position and / or orientation of a specific number of respective piece goods positioned in the closed formation in the first position.
  • manipulator used in connection with the present description essentially means a handling device which is suitable for gripping, shifting, rotating and / or moving piece goods, articles or containers, and which, in a particularly advantageous variant, is referred to as a so-called manipulator.
  • Delta robot or parallel kinematic robot can be based or part of such, which can be referred to in a three-arm design, as it is increasingly used in practice as a tripod.
  • Each of the arms of such a tripod or delta robot consists of a driven at the base about a frame-fixed pivot axis pivotally mounted upper arm and articulated to the upper arm and the coupling element connected to the lower arm.
  • the forearm here is usually passive, running free of a drive to its pivoting relative to the upper arm or the coupling element.
  • One or more of the lower arms can be connected, for example, via ball joints with the respectively associated upper arms and the coupling element.
  • Such a single forearm is free to pivot and has no inherent stability.
  • All upper arms of a delta robot are each mounted pivotably about preferably lying within a common plane pivot axes and can all be driven and equipped with separate drive motors.
  • Three connected to the coupling element and each with its associated upper arm forearms form a force triangle in each position, which can only move when the three upper arms in each case synchronously or simultaneously calculated for them
  • Two or more pivot axes can be parallel; As a rule, all pivot axes have two points of intersection with other pivot axes.
  • At least one of the lower arms may consist of two linkage elements, also referred to as ellipses and spokes, forming a parallelogram linkage, for guiding the coupling element in at least one predetermined orientation relative to the base.
  • the coupling element serves as a work platform, which is also referred to in practice as a tool center point (TCP).
  • TCP tool center point
  • a manipulator may be arranged, for example.
  • TCP tool center point
  • a manipulator may be arranged, for example.
  • In the form of mutually deliverable gripper arms o.
  • Handling facilities so that so that items, containers o.
  • Goods can be taken and rotated, moved or lifted from a support surface.
  • the arranged on the working platform or the TCP manipulator can optionally be rotatably mounted to align the manipulator or perform a desired rotation of the article or piece goods can.
  • a drivable rotatable mounting of the manipulator on the coupling element is also conceivable to arrange the manipulator non-rotatably on the coupling element and the entire
  • the known parallel kinematics robots or so-called tripods can cover a work space available for the respective robot, which is composed of the length of the upper arms, the distance between the attachment of the upper arms to the center of a frame-fixed base, the length of the lower arms, the distance of the attachment
  • Ball segment connects. Furthermore, the working space at the upper edge is possibly still limited by maximum pivoting angle gimbal telescopic drive shafts. This working space can correspond approximately to the detection area, but can also be smaller or larger than the so-called detection area in the sense of the present invention. In order to be able to grasp, grasp and manipulate the piece goods within the detection range, it makes sense to use the Workspace in which the TCP of the tripod can move, for example, larger than the detection range to choose.
  • Embodiment of the invention a method of handling and / or for
  • Manipulating articles, groupings, packages or piece goods which is carried out with such an apparatus having an upper suspension to which at least three rotatably driven actuating arms are mounted, wherein the at least three actuating arms each consist of at least two relatively pivotable arm portions and can be operated independently of each other.
  • the apparatus further comprises a manipulator which comprises one or more means for gripping the articles and is mechanically coupled to the at least three actuating arms, such that a movement of one or more of the at least three actuating arms results in a position of the
  • Manipulator can be specified.
  • the device sees a
  • Linear guide ago which communicates with the manipulator and the suspension via a gimbal joint in each case, wherein the linear guide is designed as a rotatable first shaft which is rotatably connected to the manipulator in communication and wherein the manipulator by a rotational movement of the first shaft together with this wave is turned.
  • designed as a second shaft actuator is provided which passes through the linear guide and over which the one or more means for temporary gripping and releasing of articles can be controlled, wherein the formed as a second shaft
  • Actuating device for controlling the one or more means relative to
  • Linear guide is rotated, and wherein the second shaft during rotation of the first shaft rotatably connected to the rotatable manipulator in communication, depending on a status of the means for temporarily gripping and releasing the articles either a same direction, optionally a synchronous rotation with the first wave or a compensatory or counter-rotational movement to this performs.
  • the manipulator can by a rotational movement of the first shaft
  • the actuator designed as a second shaft may in particular have an approximately concentric orientation to the linear guide, which is maintained throughout a positioning of the manipulator via one or more of the at least three actuating arms.
  • the manipulator can rotate almost as desired in any desired direction of rotation, with virtually any desired or unrestricted angles of rotation of multiples or multiples of 360 °.
  • a variant of the method according to the invention can provide that the actuating device embodied as a second shaft is connected to the one or more means via a gearbox having at least one gear ratio, wherein the gearbox has a torque of the second shaft
  • Actuator transmits to an actuating movement of one or more means.
  • the one or more means may, for example, comprise at least two opposing jaws which move relative to each other during relative rotational movement between the actuator and the linear guide formed as a second shaft which allows items, general cargo or containers to be gripped and moved, rotated or lifted and moved.
  • Actuating device can be controlled via a separate actuator, which is non-rotatably mounted on the upper suspension.
  • Clamping jaws can be used while an independent rotary motion of a coaxial shaft can be used to rotate a complete gripper. If only one rotational movement is to be carried out in each case, e.g. a rotation of the gripper, so open or close the jaws by a stoppage of the other shaft to the former, as this is a relative movement between the two waves.
  • the second shaft which serves to close and open the gripper, must perform a compensation movement upon rotation of the gripper by actuation of the first shaft. This compensation movement takes place as a relative movement with respect to the first shaft in synchronism, in the opposite direction or synchronously. The direction of the compensation movement has to be made depending on the desired function. If e.g. the grippers through one
  • the second shaft When the counterclockwise rotation is closed and the gripper is turned counterclockwise, the second shaft must rotate counterclockwise as the gripper rotates to prevent the jaws from opening. Similarly, turn clockwise.
  • the required directions of rotation of the shafts are dependent on the technical implementation of the implementation of the rotational movement of the second shaft in a linear movement of the jaws.
  • the desired function of the tool such as the gripper, can be achieved and ensured by performing a compensating movement.
  • the piece goods or articles can be transported during their handling on a horizontal conveyor and thereby grabbed by the manipulator. After gripping, the manipulator can rotate and / or offset at an angle to the transport direction of the
  • Each of the least three actuating arms of the Voutter can be assigned for the purpose of its respective drive a separate actuator, which is preferably designed as an electric motor and causes a rotating movement of the actuating arms.
  • the control arms can be flanged directly to their respective assigned actuator.
  • the actuators can be carried by the upper suspension. In particular, it may be that the actuators are arranged hanging on the upper suspension.
  • the axes of rotation of the at least three actuating arms can run parallel to one another.
  • the actuators of the least three actuating arms can be connected to a control unit, which specifies a movement of one or more of the at least three actuating arms for the specific positioning of the manipulator, which will be described in more detail below.
  • the previously mentioned manipulator of the device according to the invention comprises one or more means for gripping the articles and is mechanically coupled to the at least three actuating arms.
  • a position of the manipulator can be predetermined by a movement of one or more of the at least three actuating arms.
  • the at least three actuating arms are pivotally connected to a support ring, which is formed around the linear guide and a shaft formed as
  • Actuator is guided and mechanically coupled with the manipulator in communication.
  • Manipulator may allow relative rotation of the manipulator relative to the support ring.
  • an embodiment variant of the device according to the invention may comprise a linear guide, which communicates with the manipulator and the suspension via a cardan joint in each case.
  • the position of the linear guide can be selected in particularly preferred embodiments such that the Linear guide between all of the at least three actuating arms is or that all of the at least three actuating arms are arranged around the linear guide.
  • the respective gimbal-acting joint can in simple embodiments as
  • Be formed universal joint Be formed universal joint.
  • the term is to be understood broadly, so that, for example, also ball joints and / or other gimbal-acting joints can be provided within conceivable embodiments of the device according to the invention.
  • At least one actuating device is provided as part of the device.
  • the one or more means for temporary gripping and releasing of articles can be controlled.
  • the one or more means can do this with the at least one
  • Actuator are in mechanical engagement.
  • the at least one actuating device is designed as a shaft, which passes through the linear guide and can be rotated relative to the linear guide for the control of the one or more means.
  • the formed as a shaft at least one actuator can enforce the linear guide completely.
  • Actuating be assigned a separate actuator, which is optionally in communication with the previously mentioned control unit.
  • Actuating device and the linear guide can also be used when positioning the
  • Manipulator or be maintained throughout the movement of the least three actuating arms.
  • the linear guide at least two telescopic or
  • the linear guide can also be formed from three, four or more than four telescopable or telescopically connected housing parts.
  • the at least two telescopic housing parts may each have at least sections a hollow cylindrical shape.
  • the actuating device embodied as a shaft can optionally be assigned a separate actuator, via which the shaft can be activated or rotated.
  • the own actuator is positioned on and / or in the region of the upper suspension.
  • a rotation axis of the shaft can run through the own actuator and / or through a center of gravity of the actuator.
  • the actuator can thus optionally be flanged to the at least one actuating device designed as a shaft via an interposed gimbal joint.
  • the actuator rotatably connected to the upper suspension in conjunction.
  • the linear guide may be formed as a further shaft, which is non-rotatably connected to the manipulator, so that by rotation of the further shaft of the manipulator can be rotated.
  • Actuating device and designed as a further shaft linear guide are rotated independently. Further, the at least one formed as a shaft actuator and designed as a further wave
  • the one or more means may comprise at least two opposing jaws, the relative distance for gripping and releasing of articles via the at least one formed as a shaft actuator can be specified. For example, it may be that only one of the opposing jaws is actively moved via the at least one actuator designed as a shaft, whereas no active movement of the respective
  • the device may have one or more transmission elements, which comprises a rotating movement of the at least one actuating device designed as a shaft into an active one
  • the respective piece goods or articles can by means of the clamping jaws detected, gripped and subsequently offset by a movement of the manipulator and positioned and / or aligned.
  • the piece goods are usually transported on the horizontal conveyor or within the detection range, by the device or the
  • the piece goods or articles may in this case be delayed or accelerated with respect to a transport speed of the horizontal conveyor and possibly rotated and / or offset obliquely to a conveying direction of the horizontal conveyor.
  • the formed as a shaft at least one actuator and the one or more means a transmission with at least one translation stage may be interposed. In this way, the control of the one or more means for gripping articles can be carried out with high accuracy, wherein the applied over the shaft for gripping articles torque can be kept low.
  • Movement and handling of the aforementioned manipulator is suitable for numerous variants of the method according to the invention for handling
  • the variants of the method according to the invention described below are implemented with a device which comprises an upper suspension, to which at least three rotatably driven actuating arms are attached.
  • the at least three actuating arms each consist of at least two arm sections which can be pivoted relative to one another and can be actuated independently of one another or adjusted independently of one another. The respective adjustment can be specified via a control unit.
  • the device has the implementation of the
  • a manipulator which comprises one or more means for gripping the article and with the at least three actuating arms
  • This device may comprise a linear guide, which communicates with the manipulator and the suspension via a respective cardan joint.
  • at least one actuator designed as a shaft which passes through the linear guide, in particular in approximately coaxial arrangement.
  • the one or more means for temporarily gripping and releasing articles can be actuated via the at least one actuating device designed as a shaft, wherein the actuating device designed as a shaft controls the one or more means relative to
  • Linear guide is rotated.
  • the linear guide may be formed as a further shaft, which is non-rotatably in communication with the manipulator.
  • the manipulator can be rotated by a rotational movement of the other shaft together with the other shaft. In a rotational movement of the other shaft thus the manipulator can be rotated with the shaft by the same angle of rotation.
  • the manipulator is rotated by a rotational movement of the other shaft by 360 ° and / or more than 360 °. If articles are to be rotated by a little more than 180 ° by means of the manipulator, it may be useful to rotate the manipulator with the same direction of rotation by a total of 360 ° after release of the articles and to return them to the original rotational position. at
  • Embodiments with possible rotation of the manipulator by 360 ° the method with increased throughput of handling of articles is feasible. It can be provided that in the process of the manipulator is rotated only in one direction, while continuously turning with no reverse
  • the actuating device embodied as a shaft can have an orientation which is coaxial with the linear guide and can maintain it continuously during positioning of the manipulator via one or more of the at least three actuating arms.
  • the linear guide is embodied as a further shaft
  • the further shaft and the actuating device designed as at least one shaft can have axes of rotation falling into one another or falling approximately in one another.
  • Actuator with the one or more means via a transmission with at least one translation stage is in communication with the transmission
  • Torque of the actuator formed as a shaft transmits to an actuating movement of the one or more means.
  • the one or more means may comprise at least two opposing jaws which are relatively moved or moved in relative rotational movement between the shaft and linear guide.
  • Each of the jaws may have flexurally-soft contact elements that are force-loaded when gripping articles with the respective articles. It may also be that the at least one formed as a shaft
  • Actuating device is controlled by an actuator which is rotationally fixed on the upper suspension.
  • Handling are transported on a horizontal conveyor and thereby grabbed by the manipulator.
  • the manipulator can cause a rotation and / or a lateral offset obliquely to the transport direction of the horizontal conveyor and / or a delay and / or acceleration of the respective gripped articles relative to a transport speed of the horizontal conveyor.
  • the device according to the invention may preferably be equipped with a control device, via which the at least one manipulator for clamping and / or positive and / or positive detection of at least one piece goods, for the spatial separation of at least its
  • the controller has information to one of a variety of piece goods to be formed Vorgrupp réelle or grouping for a palettierShe layer or sub-layer has or has stored , and wherein the respective target positions and / or orientations of the piece goods form part of the information and assign the respective at least one piece goods a specific position and / or relative orientation in the respective grouping.
  • a further embodiment of the device according to the invention comprises at least one horizontal conveyor on which the at least one General cargo or the multiple cargo or the plurality of cargo into the respective target positions and / or target orientations reach.
  • Horizontal conveyor is preferably uninterrupted and / or driven at a constant feed rate.
  • Horizontal conveyor immediately adjoins the transport device, so that the cargo passed without jerk and interruption of the transport device to the immediately following horizontal conveyor and there
  • the at least one transport device can be formed for example by at least one feed belt or a plurality of parallel Zuschbs, preferably directly to the
  • Horizontal conveyor and the transport speed of the transport approximately match or exactly match.
  • Layer formation clearly recognize and / or demarcate, does not take place at all, but is resolved in the course of movement between the separation of the respective piece goods from the formation and the achievement of the target positions.
  • Figure 1 shows schematically the compilation of piece goods
  • FIGS. 2 to 44 schematically show a time sequence of a
  • Figures 45, 46 and 47 show in various overall or detail views of an embodiment variant of a delta robot robot, which is equipped with a manipulator according to the present invention for handling and / or handling of piece goods.
  • Figure 1 shows schematically the compilation of piece goods 2 as a layer 12, as it should be compiled, for example, for palletizing and further processing.
  • the piece goods 2 are formed by eight bottles 8, which are summarized by means of a shrink film 9 to containers.
  • FIGS. 2 to 44 schematically show a time sequence of a
  • FIG. 45 shows a schematic perspective view of an embodiment of a handling and / or manipulation device for carrying out a variant or several variants of the method according to the invention.
  • FIG. 46 shows a schematic detail view of a lower part of the device from FIG. 45.
  • FIG. 47 shows a schematic cross-sectional representation through the device from the exemplary embodiment according to FIG. 45 and FIG. 46.
  • Figures 48A to 48F show the detection of a different number of piece goods by a manipulator of the handling device.
  • the handling device 10 comprises two parallel arranged first
  • Handling device 10 are transported.
  • exactly one detection area 4 of a manipulator 5 of the handling device 10 is assigned to the two parallel first transport devices 3 a, 3 b.
  • Transport devices 3a, 3b are formed, for example, in each case by a conveyor belt or another suitable conveying device, on which the piece goods 2 are preferably transported in single-row, wherein between each directly successive
  • General cargo 2 no or only a slight, possibly process-related, gap exists.
  • the piece goods 2 thus run in each of the rows 1 a, 1 b in each case in a so-called closed formation F, Fa, Fb as shown in Figures 2ff. represented, in particular clearly visible in Figures 2 to 7, continuously in the detection area 4 of the manipulator 5 a.
  • FIGS. 2 to 42 illustrate, in particular, the transport of the rows 1, 1 a, 1 b or formations F, Fa, Fb in the detection area 4 of the handling device 10, which is continued without interruption in the transport direction TR
  • Detection area 4 is associated in particular with a horizontal conveyor 6, which moves at a speed v6.
  • the speed corresponds v6 of the horizontal conveyor 6 of the transport speed v3 of the transport devices 3a, 3b.
  • Transport devices 3a, 3b arriving piece goods 2 are pushed by the dynamic pressure of the subsequent piece goods 2 on the horizontal conveyor 6 and transported there without interruption.
  • the piece goods 2 are multi-row, in particular in several parallel rows 1 a, 1 b, on a single, common transport device 3 (not shown) to the detection area 4 of the manipulator 5 out to be transported.
  • the parallel rows 1 a, 1 b can be transported spaced apart from one another or largely without spacing on the transport device 3.
  • the horizontal conveyor 6 and the above the horizontal conveyor 6 arranged at least one manipulator 5 are together as
  • Grouping module 20 of the handling device 10 denotes.
  • the manipulator 5 is designed for the clamping and / or positive and / or positive reception of piece goods 2, 2 * within the detection area 4. As shown in FIG. 7, the manipulator 5 first grips a piece goods 2 from the closed formation Fa entering via the transport device 3a.
  • the piece goods 2 detected by the manipulator 5 are designated below by the reference numeral 2 * to distinguish the piece goods 2 arranged in formation F.
  • the manipulator 5 separates the detected cargo 2 * from the single-row formation Fa and transfers the separated cargo 2 * as shown in Figures 7 to 1 1 in a first target position P1 and / or target orientation. In this case, the detected cargo 2 * is spaced by the manipulator 5 on the one hand in the transport direction TR of the formation Fa of the piece goods 2, also the detected cargo 2 * is rotated relative to the cargo 2 of the formation Fa.
  • the at least one initially arriving article 2 from the closed formation Fa is detected and at the same time rotated by an angle of at least approximately 180 ° into the defined relative destination position P1 and / or orientation relative to the subsequent piece goods 2 of the formation Fa brought.
  • the rotational movement takes place about a preferably approximately vertical axis which is located between the respective at least one piece goods 2 * and the target position P1 that are clamped and / or positively and / or positively.
  • the 180 ° rotation is optimized in particular with regard to the saving of travel and time, in particular in connection with an asymmetrical detection of piece goods 2, 2 * or with an asynchronous tapping of piece goods 2, 2 * .
  • a manipulator 5 which can detect up to three packaged goods 2 according to the illustrated embodiment, at least one first vertical plane of symmetry of the packaged product 2 detected by the manipulator 5, 2 * spaced from a second vertical
  • Symmetrieebene which is defined by the manipulator 5 and by its clamping and / or gripping means, which is referred to in the present context as so-called.
  • Asynchronous or asymmetric tapping which is defined by the manipulator 5 and by its clamping and / or gripping means, which is referred to in the present context as so-called.
  • these vertical planes of symmetry are by definition oriented perpendicular or approximately perpendicular to a horizontal conveying plane of the horizontal conveyor 6. It makes sense to orient these planes of symmetry, ie the first plane of symmetry, second and possibly further planes of symmetry, also perpendicular to the horizontally extending transport direction TR and / or approximately perpendicular to a longitudinal extension direction of the closed formation F.
  • this direction of transport TR as a horizontal vector arrow which runs parallel to the horizontal support plane of the horizontal conveyor 6 and parallel to the transport device 3, which is normally also horizontally or sectionwise horizontally, then this vector arrow also penetrates the perpendicular planes of symmetry substantially perpendicularly.
  • the piece goods 2 or 2 * are the respective ensemble of piece goods 2 and / or 2 * , which are located in the respectively relevant working cycle in the manipulator 5 or between the two clamping jaws 22.
  • the entirety of the piece goods 2 and / or 2 * can thus possibly also be characterized by the total volume and / or the center of gravity of the piece goods 2 and / or 2 * detected in total in the manipulator 5, if this is expedient in the individual case.
  • Loading capacity which normally implies central, symmetric and / or uniform loading. If, in the context of the localization of the second vertical plane of symmetry of a center of the totality of general cargo 2 and / or 2 * is mentioned, this may, depending on the embodiment of the
  • Piece goods for example, be the center of gravity of the totality of piece goods 2 and / or 2 * detected in the manipulator 5 or else the volumetric center of this totality.
  • Asynchronous tapping is to be understood, is subsequently made in connection with the figures 48. If the gripper head of the manipulator 5 is loaded in the asymmetrical manner described or in so-called asynchronous assembly with piece goods 2, 2 * , whereby the distancing of the respective first and second planes of symmetry - these are the respective vertical planes of symmetry, which are approximately perpendicular to
  • Transport direction TR and the direction of longitudinal direction of the piece goods formation are - is meant for a shift to the left or to the right, which may be superimposed on each rotation, not every rotational direction variant feasible feasible, as this may lead to an unnecessarily long displacement could lead, which would be carried out by the manipulator 5 in total.
  • the manipulator 5 in the case of the manipulator 5 asymmetrically loaded with a piece goods 2, 2 * according to FIG. 7, it may be advantageous for the manipulator 5 to space the piece goods 2, 2 * in alignment with the formation Fa, not by acceleration in FIG Transport direction TR shifts. Instead, the manipulator 5 - as shown in Figures 8 to 1 1 - performs a rotation by 180 ° about a perpendicular to the horizontal
  • the manipulator 5 does not have to perform any movement or only a slight movement in or counter to the transport direction TR. This is advantageous because the manipulator then does not have to travel this distance again in the opposite direction in order to tap further piece goods 2 from one of the incoming formations Fa, Fb.
  • Another advantage of the 180 ° rotation is that the manipulator 5 is already present in a configuration in which the manipulator 5 can immediately detect further piece goods 2 without first having to reverse to an initial position. That In the subsequent method step, more piece goods 2 can now be tapped with the gripper end of the manipulator 5, which was unloaded in the described 180 ° rotation step. This aspect also leads to a significant time savings and thus to an increased throughput in the
  • the manipulator 5 disengages from the article 2 * conveyed to the destination position P1, in order now to pick up a piece good 2, 2 * from the incoming formation Fb, as shown in FIGS. 13 to 17, while rotating to transport to a target position P2 and corresponding targeting.
  • the transported piece goods 2 * are brought into the defined relative target position P2 and / or orientation with respect to the subsequent piece goods 2 of the formation Fb with simultaneous rotational movement through an angle of at least approximately 90 °.
  • a rotational movement takes place about a preferably approximately vertical axis, wherein the axis of the rotational movement in the course of the rotational movement is additionally moved at least in time and / or in sections in the direction of the defined target position P2.
  • the axis in the course of the rotational movement at least temporarily in the direction of the defined target position P2 is moved at a speed which is greater than the transport speed v3 of the incoming closed formation F.
  • the axis at least temporarily dwells in a certain position during the rotation.
  • the manipulator 5 disengages from the piece goods 2 * conveyed to the target position P2 to now, as shown in FIGS. 19 to 21, pick off two pieces 2, 2 * from the incoming formation Fa and to convey them under rotation to a target position P3 and corresponding targeting.
  • FIGS. 22 to 26 it is shown that the manipulator 5 now again moves to the incoming closed formation Fa and from there grips the foremost two piece goods 2, 2 * and these according to FIGS. 27 to 29 with rotation into a target position P4 and corresponding Targeting on the
  • Horizontal conveyor 6 transported.
  • FIGS. 30 and 31 now represent a further manipulation step.
  • the manipulator 5 detects the fourth, fifth and sixth piece goods 2 of the closed formation Fb.
  • the piece goods 2 * of the formation Fb detected by the manipulator 5 thus hurry three further general cargo 2 ahead.
  • the three packaged and / or positively and / or positively detected by the manipulator 5 piece goods 2 are now separated from the closed formation Fb spatially and placed in a defined relative target position P5 and / or target alignment with respect to the subsequent piece goods 2 of the formation Fb.
  • the three anticipated piece goods are also repositioned. In this
  • Manipulation step so three piece goods 2, 2 * detected by the manipulator, but a total of six piece goods 2, 2 * are moved to a target position P5, wherein the not measured by the manipulator 5 piece goods 2 by a surface contact between a detected by the manipulator 5 cargo 2 * and a general cargo 2 not detected by the manipulator 5 are pushed into the target position P5.
  • the total of six packaged goods 2, 2 * are arranged in their target position P5 in alignment with the closed formation Fb.
  • the manipulator 5 then moves to the incoming closed formation Fa and takes from this the foremost piece goods 2, 2 * , which it conveys while rotating in a target position P7 and corresponding targeting on the horizontal conveyor 6 ,
  • the manipulator disengages from the article 2 * arranged in the destination position P7 and, according to FIG. 42, detects another article 2, 2 * of the formation Fb which is arranged in the forwardmost direction, in order to turn it into a
  • Target position P8 and corresponding targeting on the horizontal conveyor 6 to transport (see Figures 43, 44).
  • the target position 12 shown in Figure 1 is thus largely prepared as a loose arrangement.
  • the desired closed position 12 is generated in a further process step, not shown, and can be transferred for further processing, for example on a pallet.
  • the detected piece goods 2 * are preferably each in a single, in particular uninterrupted,
  • Manipulation step transferred to the target position P1 to P8 and / or target orientation, pushed and / or rotated.
  • the manipulator 5 lifts the detected piece goods 2 *, for example, transported to a target position P1 to P8 and on the
  • the manipulator 5, the piece goods 2 * on the Horizontal conveyor 6 shifts, in particular by a
  • asynchronous assembly is loaded with cargo 2, 2 * (see also Figures 48 and description thereof), whereby the distancing of the respective first and second planes of symmetry - these are the respective vertical planes of symmetry, approximately perpendicular to the transport direction TR and to the longitudinal direction of the
  • Piece goods formation are - meant is, with a shift to the left or to the right, which may be superimposed on each rotation, not every
  • Rotation direction variant feasible feasible as this could possibly lead to an unnecessarily long displacement, which would be carried out by the manipulator 5 in total.
  • the example illustrated with reference to Figures 7 to 1 1 180 ° rotation for positioning a piece good 2 or 2 * in the first target position P1 is particularly optimized with respect to the saving of travel and time, especially in connection with an asymmetric detection of cargo 2, 2 * or with an asynchronous tapping of piece goods 2, 2 * .
  • an asymmetrical tapping of only one piece of goods 2 or 2 * takes place in each case the manipulator 5, which according to the illustrated embodiment in each case up to three piece goods 2 and 2 * in a detection step record and manipulate.
  • the 180 ° rotation performed by the manipulator 5 is particularly advantageous in the sense of saving travel.
  • the rotation through 180 ° takes place about an axis of rotation oriented perpendicular to the horizontal supporting plane of the horizontal conveying device 6.
  • the respectively detected piece goods 2 or 2 * possibly also the respectively detected unit of two piece goods 2, 2 * (not shown here, but in the
  • Embodiment according to FIG. 19 et seq. Into a target position P or P1 (FIG. 11, FIG. 12), which is located in alignment in the transport direction in front of the formation F. In addition, this rotation of the manipulator 5 is superimposed by a displacement of the manipulator 5 in the transport direction TR in order to set the defined target position P1 exactly.
  • Transport direction TR accelerated to separate the asymmetrically loaded manipulator 5 of the subsequent piece goods 2 of the further incoming formation F and at least slightly space. This distance is necessary in order to
  • Movement component is superimposed in the transport direction TR, the detected cargo 2 or 2 * in the respective target position P1 (see Fig. 1 1, Fig. 12) to be arranged laterally to the rectilinear trajectory TB of the closed formation F or largely in flight to right side of the linear trajectory TB of the closed Formation F is located.
  • the spacing of the items 2, 2 * of the formation F by brief acceleration of the manipulator before the rotation is effected through 90 ° or 180 °, to produce a target orientation of the piece goods or assembly of two unit loads 2, 2 * of the formation F, especially necessary to avoid a collision of the
  • Manipulator 5 detected piece goods 2, 2 * with the trailing piece goods 2 of
  • Formation F or Fa to avoid.
  • moving the individual detected piece goods 2 or 2 * or the asymmetrically detected unit of two piece goods 2, 2 * right to the linear trajectory TB of the closed formation F is a left turn to minimize the distance traveled by the manipulator distance advantageous.
  • Formation F is a right turn to minimize the distance traveled by the manipulator distance advantage. This leads to a considerable saving of time and thus to an increased throughput during product processing.
  • the target positions P1 to P8 each represent a relative position with respect to
  • Formation Fa or Fb Since the transport devices 3a, 3b and thus the formations Fa, Fb move at the same speed as the
  • Speed of the manipulator 5 relative to the transport speed v3 of the formations Fa, Fb increased.
  • the direction of movement of the manipulator 5 when conveying the piece goods 2 * of the formation F in a target position P1 to P8 results for example from a first movement component parallel to the transport direction TR of the formation Fb and a second component of movement perpendicular to the transport direction TR of the formation F.
  • Manipulator 5 recorded piece goods 2 * in one defined target position in the detection area 4 of the manipulator 5 are moved, which is spaced in the transport direction TR before the formation F and laterally shifted to the formation F is. Is the second component of motion perpendicular to
  • Transport direction TR of the formation F equal to zero, then the detected cargo 2 * are moved to a position which is in alignment with the respective formation F (see, for example, Figures 30 and 31).
  • the manipulator rotates about an axis of rotation, which is formed perpendicular to the plane of the horizontal conveyor 6 and thereby causes a corresponding repositioning of the detected piece goods 2 * .
  • the piece goods 2 * moved in this way are arranged in alignment with the respective formation F (cf. FIGS. 7 to 11) or are arranged laterally displaced therefrom.
  • the manipulator 5 after moving a group of detected piece goods 2 * and at least one piece goods 2 not covered by the manipulator 5, which in
  • a manipulator 5 with detected piece goods 2 * can be used to at least one already in a previous step in a target position
  • the at least one transport device 3 and the horizontal conveyor 6 continue to be operated constantly.
  • the speed v3, v6 is chosen so that the manipulator 5 has sufficient time within the work area available to him to the
  • the manipulator 5 consists of a
  • the rotational movements of the at least one manipulator 5 in at least two successive steps for each movement of cargo 2, 2 * of the closed formation in the respective intended target positions and / or - alignments with each take place in the same direction of rotation, in particular under
  • the manipulator detects a piece goods 2, 2 * or a group of two or three pieces 2, 2 * of the formation Fa and parallel with rotation by 180 ° and optionally additional displacement of the manipulator 5 with movement components and / or perpendicular to
  • this can rotate in the same direction of rotation by a further 180 ° and then tap, for example, piece goods 2, 2 * of the formation Fb and move them to their respective target position, while still maintaining the sense of rotation.
  • the manipulator 5 need to replace the detected in the first step described cargo / cargo F1 of the formation not be rotated, but can be used directly for picking up another piece goods 2, 2 *. It is thus not necessarily a rotation of the manipulator 5 necessary, instead, a movement with movement components against the transport direction of the formations Fa, Fb and / or ggfl. be sufficient perpendicular to the transport direction of the formations Fa, Fb.
  • the groups of piece goods 2 * according to the grouping, partial layer or position to be formed during the grouping / Positioning process formed.
  • the group formation and positioning within a single process step and by means of a single corresponding device is possible. This represents a significant difference from the prior art, in which, for example, by the arrangement of suitable funding, which are driven at different speeds, only one
  • the manipulator 5 for example, sequentially processes the piece goods 2 of the incoming formations Fa, Fb, in which it alternately captures individual piece goods 2, 2 * or groups of piece goods 2, 2 * of the formations Fa, Fb and transports them to their destination positions P1 to P8.
  • the manipulator twice in succession from one of the formations Fa or Fb at least one piece goods 2, 2 * detected, separated and transported to the target position P1 to P8 and / or target orientation. This leads to a significant increase in throughput while compact design. If in the present case or generally in the context of the present
  • a manipulator 5 it may be specifically in the intended for transferring the at least one piece goods 2, 2 * , 2a in the target position P, Pa and / or target orientation provided part of the manipulator 5, for example, a tool head, a rapier head or the like. act, which is, for example, supported on movably mounted cantilever arms and stored, which cantilever arms in turn typically on a frame or frame o. The like. Can be mounted frame-fixed. Such a - also known as parallel kinematic arrangement - manipulator suspension or
  • Manipulator assembly permits the desired movement of the head (also: the manipulator) of the piece goods 2, 2 *, record 2a in the desired manner, move, move, place rotate, etc. can to the respective target positions P, Pa, and / or Targeting for the cargo 2, 2 * , 2a to be able to approach.
  • Manipulator configurations may optionally be single, multiple, or all Embodiments relate, which are mentioned in the context of the present description of the figures and / or the entire description of the invention.
  • FIGS. 15 to 47 show various views of an embodiment of a manipulator 5, 50 of a handling device 10 and / or manipulation device (according to one of the preceding figures) for carrying out a variant or several variants of the method according to the invention.
  • FIG. 45 shows in particular a schematic perspective view of the device or of a delta-kinematics robot
  • FIG. 46 shows a schematic detail view of a lower part of the device from FIG. 45
  • FIG. 47 shows a schematic cross-sectional view through the device from the exemplary embodiment according to FIG. 45 and FIG. 46.
  • FIGS. 45 to 47 relate to a delta robot, a so-called tripod or a delta kinematics robot with three similar pivoting arms, for carrying out at least some variants of the method according to the invention.
  • Handling for turning, moving or picking up items, general cargo or containers form or may contain this handling device or this manipulator.
  • the delta robot or tripod its structure, its mode of operation and its range of motion, reference should be made in particular to the disclosure content of DE 10 2013 106 004 A1, to the entire contents of which reference is hereby expressly made.
  • the drives for the three pivot arms, etc. should therefore be omitted here.
  • the device 41 according to FIG. 45 to FIG. 47 could also have four identical actuating arms.
  • the robot comprising the device 41 or containing this device 41, which at the same time contains the handling device or the manipulator comprises or can form part of it, generally designated by the reference numeral 42.
  • the robot designated by the reference numeral 42 may also be designated as a delta robot 42, as a delta-kinematics robot 42, as a parallel-kinematics robot 42 or as a tripod 42 (see FIG.
  • FIG. 45 shows a schematic perspective view of an embodiment of a device 41 or a delta kinematics robot 42 for carrying out the method according to the invention.
  • the device 41 or the delta kinematics robot 42 is designed, for example, for gripping, turning and moving to containers of combined beverage containers, which are not shown in FIG.
  • the device 41 or the delta kinematics robot 42 can also for
  • the device 41 or the delta-kinematics robot 42 has an upper suspension 43.
  • three actuating arms 45 are rotatably mounted via a respectively assigned drive 48. The turning
  • the three actuating arms 45 consist of at least two arm sections 47 and 49 which can be pivoted relative to one another, wherein the lower arm sections 47 and lower arms 47 are each formed from two rods oriented parallel to one another.
  • the respective upper arm section 49 or upper arm 49 communicates with its respectively associated drive 48 or is flanged to its respectively assigned drive 48.
  • All drives 48 are for this purpose in communication with a control unit which determines the movement of the actuating arms 45 and drives the drives 48.
  • a manipulator 50 is connected to the three actuating arms 45 in such a way that the manipulator 50 can be moved over a movement of the three actuating arms 45 for handling articles.
  • the control unit not shown in Figure 45, therefore, the movement of the actuating arms 45 in response to a position provided for the manipulator 50 position for gripping and handling of articles.
  • All of the three actuating arms 45 are mechanically coupled via a support ring 57 with a base 60 of the manipulator 50. The mechanical connection or
  • Coupling between the support ring 57 and the base 60 of the manipulator 50 is such that it allows a relative rotation of the manipulator 50 relative to the support ring 57.
  • the support ring 57 may also be referred to as a tool center point of the device 41.
  • In about the middle of the manipulator 50 is rotatably connected to a linear guide 56
  • the linear guide 56 is formed as a first shaft 54 and thus the manipulator 50 can be rotated via the first shaft 54.
  • a second shaft 58 actuator 52 is provided by means of which jaws 62 and 64 can be controlled to close and open.
  • the axes of rotation of the first shaft 54 and formed as a second shaft 58 actuator 52 are identical.
  • the first shaft 54 and the second shaft 58 are coaxially oriented. Since the manipulator 50 or the opposing clamping jaws 62 and 64 of the manipulator 50 can be actuated via the actuating device 52 designed as a second shaft 58, there are no pneumatic, hydraulic or electrical
  • the two clamping jaws 62 and 64 can be rotated by means of a rotation as the second shaft 58
  • trained actuator 52 are adjusted relative to each other or
  • clamping jaws 62 and 64 when actuated by the actuating means 52 designed as a second shaft 58 is illustrated here by means of an arrow. Both jaws 62 and 64 are attached to the base 60 of the manipulator 50 suspended and linearly movable. An activation of the clamping jaws 62 and 64 takes place via transmission stages of a transmission which are connected with the second shaft 58 and can not be seen in FIG. 45 and transmit a torque of the second shaft 58 to an adjusting movement of the clamping jaws 62 and 64.
  • the linear guide 56 or the first shaft 54 comprises two housing parts 44 and 46 which are telescopically connected to each other and each provide a cavity for receiving the second shaft 58 formed as actuator 52.
  • About a gimbal acting joint is formed as a second shaft 58
  • Actuator 52 coupled to the manipulator 50 and to an actuator 70.
  • the actuator 70 is non-rotatably mounted on the upper suspension 43.
  • the second shaft 58 formed as actuating member 52 can be moved to rotate, whereby the jaws 62 and 64 of the manipulator 50 are moved to grasp or release of articles.
  • the second shaft 58 which serves to close and open the clamping jaws 62 and 64 of the manipulator 50 or of the gripper, must execute a compensating movement upon rotation of the gripper or manipulator 50 by actuation of the first shaft 54. This compensation movement takes place as a relative movement relative to the first shaft 54 in synchronism, in the opposite direction or synchronously.
  • the direction of the compensation movement has to be made depending on the desired function. For example, if the jaws 62 and 64 closed by a rotational movement of the second shaft 58 in the counterclockwise direction and the manipulator 50 and the gripper simultaneously rotated by rotation of the first shaft 54 counterclockwise, the second shaft 58 during rotation of the manipulator 50th also rotate counterclockwise to prevent the jaws 62 and 64 from opening. Similarly, turn clockwise.
  • the required directions of rotation of the shafts 54 and 58 are dependent on the technical implementation of the implementation of the rotational movement of the second shaft 58 in a linear movement of the jaws 62 and 64.
  • the schematic detail view of Figure 46 illustrates a lower part of
  • Device 41 and the delta-kinematics robot 42 of Figure 45 shows in particular again in detail an embodiment of the manipulator 50, as he for the inventive method and in particular for carrying out the
  • the clamping jaws 62 and 64 have for gripping articles on their respective opposite jaw 62 and 64 facing side several bending soft contact elements 59.
  • the flexurally soft contact elements 59 are force applied to a feed movement of the jaws 62 and 64 with the respective articles in contact and set the respective articles substantially immovably fixed on the manipulator 50.
  • FIG. 46 also shows again in detail the lower arm sections 47 of the actuating arms 45 (see FIG. 45), which are each designed as a rod construction and at their lower end with the support ring 57 (or the so-called tool center point). each articulated in connection.
  • the manipulator 50 may be rotated about the first and outer shafts 54 relative to the support ring 57, respectively.
  • FIG. 47 shows further details of the device 41 or of the delta kinematics robot 42 from the exemplary embodiment according to FIGS. 45 and 46.
  • the trained as a second shaft 58 actuator 52 and the first shaft 54 formed as a linear guide 56 can be seen again.
  • the second shaft 58 and the first shaft 54 have a concentric orientation and an identical axis of rotation, i. they are arranged coaxially with each other.
  • a rotation of the manipulator 50 can be effected by the linear guide 56 formed as a first shaft 54, wherein the axis of rotation in Figure 47 is oriented vertically or in the direction of the image plane.
  • Manipulator 50 the jaws 62 and 64 remain closed or opened unchanged.
  • FIGS. 48A to 48C show the detection of a different number of piece goods 2, 2 * by a manipulator 5 of the handling device 10 described in FIGS. 1 to 12.
  • the manipulator 5 preferably has a certain receiving capacity for a plurality of piece goods 2, 2 * .
  • a certain number of piece goods 2 of the formation F are detected (see FIGS. 1 to 12). This is controlled and / or regulated in particular via a control device (not shown).
  • the number of registered piece goods 2, 2 * varies here between one and the maximum number according to the capacity of the manipulator 5.
  • a maximum capacity of up to three pieces 2, 2 * per manipulator 5 is described, so are the above considerations also analogous to manipulators 5 with lower or greater maximum capacity.
  • the manipulator 5 shown schematically in FIGS. 48 is designed, for example, as a gripper head 21 and has for clamping and / or positive reception of piece goods 2, 2 * two rigid, movable and / or mutually deliverable, opposing clamping and / or gripping means, in particular two jaws 22 or gripper paddles or the like. Between the clamping jaws 22, the at least one cargo 2, 2 * clamped and thereby according to the desired target position P (see Figure 9) are moved.
  • Jaws 22 is selected such that a maximum number of piece goods 2 * , which form a clock for the situation, can be tapped.
  • the manipulator 5 shown in FIGS. 48 can in particular capture a piece goods 2 * (compare FIG. 48A), two piece goods 2 * (compare FIG. 48B) or three piece goods 2 * (compare FIG. 48C).
  • Piece 2 * defined first vertical plane of symmetry S2 * is spaced from a second vertical plane of symmetry S5, which is defined by the manipulator 5 and by its jaws 22. It can thus be defined in particular that the at least one piece goods 2 * detected by the manipulator 5 do not center there or
  • Figures 48A and 48B show the asymmetrical loading of a manipulator 5, which can detect between the jaws 22 up to three pieces 2 * . If the manipulator 5 is loaded with only one or two piece goods 2 * , the arrangement of the piece goods 2 * takes place eccentrically to the clamping jaws 22, ie, the first vertical
  • Symmetry plane S2 * is spaced from the second vertical plane of symmetry S5 of the manipulator 5. On the other hand, if the manipulator 5 is completely loaded with three piece goods 2 * , then the first vertical plane of symmetry S2 * and the second vertical one fall
  • FIGS. 48D, 48E and 48F illustrate the same relationship again with other designations and with reference to the following equation and inequality relationships.
  • L22 be the total length of the jaws 22 of the manipulator 5.
  • L2 be the length of a piece good 2 or 2 * , which is currently located between the jaws 22. Accordingly, LR is not the respective of
  • Piece goods 2 or 2 * occupied residual length or empty length between the jaws 22 of the manipulator 5.
  • Figures 48D, 48E and 48F together illustrate, applies at a jaw length L22, which corresponds to three times the length of a cargo length L2, the general context:
  • asymmetrical loading of the manipulator 5 or asymmetric gripping is generally assumed, with the piece goods 2 * located between the clamping jaws 22 being arranged on one edge of the clamping jaws 22, so that the unoccupied residual length LR always occurs only on one side, but not on both sides of the piece goods located between the jaws 22. For this reason, it can further be determined that an asymmetrical loading of the manipulator 5 or asymmetric gripping is always given if both of the following
  • the manipulator 5 or gripper head 21 is designed to change the speed and / or the direction of the at least one detected piece goods 2, 2 * . Furthermore, the manipulator 5 or gripper head 21 can additionally be designed to rotate the at least one detected piece goods 2, 2 * .
  • the above-described gripper head 21 is located on a hinge and can change the orientation of the detected between the jaws 22 piece goods 2, 2 * by rotation by a defined angle of for example 90 °.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Specific Conveyance Elements (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un procédé et un dispositif (10) pour manipuler des marchandises (2) déplacées les unes derrière les autres qui sont transportées vers une zone de collecte (4) d'un manipulateur (5). Au moins une marchandise (2) transportée est saisie, par serrage et/ou à force et/ou par coopération de formes, dans la zone de collecte (4) au moyen d'au moins deux moyens de serrage et/ou de préhension (22) opposés associés au(x) manipulateur(s) (5), puis cette marchandise est séparée spatialement des marchandises (2) suivantes et placée dans une position cible (P1, P2, P3, P4, P5, P6, P7, P8) et/ou orientation cible relative définie par rapport aux marchandises (2) venant respectivement ensuite. Un premier plan de symétrie vertical orienté de manière approximativement perpendiculaire à une direction de transport (TR) des marchandises (2) et défini par la ou les marchandise(s) (2) saisie(s) par les moyens de serrage et/ou de préhension du ou des manipulateur(s) (5) est espacé d'un deuxième plan de symétrie vertical orienté de manière approximativement parallèle audit premier plan de symétrie et défini par le manipulateur (5) ou ses moyens de serrage et/ou de préhension (22). Au cours d'au moins une étape faisant partie de plusieurs étapes successives, respectivement au moins une marchandise (2) transportée est saisie et respectivement séparée spatialement d'une trajectoire de déplacement rectiligne dans la direction de transport (TR) initiale par l'intermédiaire d'une rotation autour d'un axe vertical selon un angle de rotation au moins égal à 90°, en particulier approximativement égal à 180° et placée dans une position cible (P1, P2, P3, P4, P5, P6, P7, P8) et/ou orientation cible relative définie respective par rapport aux marchandises (2) suivantes.
EP17709000.8A 2016-04-20 2017-02-21 Procédé pour manipuler au moins une ligne de marchandises déplacées les unes derrière les autres Active EP3445689B2 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
SI201731104T SI3445689T2 (sl) 2016-04-20 2017-02-21 Postopek za ravnanje s kosi kosovnega blaga, ki se premikajo drug za drugim v vsaj eni vrsti

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016206655.2A DE102016206655A1 (de) 2016-04-20 2016-04-20 Verfahren und Vorrichtung zum Umgang mit in mindestens einer Reihe hintereinander bewegten Stückgütern
PCT/EP2017/053857 WO2017182168A1 (fr) 2016-04-20 2017-02-21 Procédé et dispositif pour manipuler au moins une ligne de marchandises déplacées les unes derrière les autres

Publications (3)

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EP3445689A1 true EP3445689A1 (fr) 2019-02-27
EP3445689B1 EP3445689B1 (fr) 2021-12-15
EP3445689B2 EP3445689B2 (fr) 2025-10-08

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EP (1) EP3445689B2 (fr)
DE (1) DE102016206655A1 (fr)
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DE102013106004A1 (de) 2013-06-10 2014-12-11 Krones Aktiengesellschaft Vorrichtung zum Umgang mit Artikeln und Verfahren zum Betrieb einer derartigen Vorrichtung

Also Published As

Publication number Publication date
SI3445689T1 (sl) 2022-04-29
SI3445689T2 (sl) 2026-01-30
WO2017182168A1 (fr) 2017-10-26
EP3445689B1 (fr) 2021-12-15
DE102016206655A1 (de) 2017-11-09
EP3445689B2 (fr) 2025-10-08

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